• Agricultural and Biosystems Engineering
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• v.6 no.2
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• pp.54-58
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• 2005

In this study, tele-robotics was researched to actualize robots in agriculture. The robot system consisted of a data collecting robot, several robots that performed their own agricultural operations, a server, client computers and networks between robots and computers. In this paper, as a first step, harvesting experiments were carried out. From the results, it was observed that the tele-robotics had feasibility to propel the robotization in agriculture. The tele-robotics has advantages not only that human workers are released from the severe working environment but also that the greenhouse can be monitored and controlled anytime and anywhere.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.06a
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• pp.525-528
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• 2008

3차원 레이저 스캐너는 고해상도 3차원 영상을 제공하고 레이저 빔을 현장이나 대상물에 발사하여 짧은 시간에 수백만점의 3차원좌표를 기록할 수 있는 최신 측량장비로서 다양한 응용분야에서 두각을 나타내고 있다. 본 연구에서는 3차원 레이저 스캐너를 이용하여 공사현장에서 슬래브 시공 시 철근배근 경계를 추출 철근배근 상태를 검측 하였다. 실험측량결과 지상라이다로 철근배근 경계를 신속하게 추출이 가능하였으며, 추출된 자료와 슬래브 도면과의 비교를 통하여 철근배근에 대한 검측이 가능하였다. 이에 따라 공사현장에서 레이저 스캐너를 이용하여 빠르고 정확한 시공검측과 자료 구축이 가능할 것으로 예상된다.

• Korean Journal of Remote Sensing
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• v.36 no.6_1
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• pp.1291-1302
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• 2020

To verify the field-effectiveness of Terrestrial Laser Scanner (TLS), a terrestrial LiDAR was deployed to examine the damage properties of woods in forest fire area, then the data was compared with the results surveyed by a forestry expert. Four sample plots (30 m × 50 m, 0.15 ha) were set from the foot to the top of the mountain, and DBH, height, clear length, burned height, and crown length were investigated. Next, TLS collected information on damage characteristics found in the sample plots. This information was then compared with that amassed by the expert. The expert and the TLS survey results showed 30.8 cm and 29.9 cm for DBH, 15.8 m and 17.5 m for tree height, 8.4 m and 8.4 m for clear length, 4.0 m, 3.5 m for burned height, and 7.4 cm and 9.1 cm for crown length. With the exceptions of height and clear length, no notable discrepancy was observed between two methods. H/D ratio, CL/H ratio, and BH/CL ratio, all of which contribute to stability and decay rate of the stand, from the two methods were also compared. The human survey rated each ratio (H/D, CL/H, BH/CL in order) 51.3%, 47.1%, and 53.6%, while the TLS presented the results of 58.8%, 52.0%, and 38.7%.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.6_2
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• pp.643-651
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• 2012

Object recognition belongs to high-level processing that is one of the difficult and challenging tasks in computer vision. Digital photogrammetry based on the computer vision paradigm has begun to emerge in the middle of 1980s. However, the ultimate goal of digital photogrammetry - intelligent and autonomous processing of surface reconstruction - is not achieved yet. Object recognition requires a robust shape description about objects. However, most of the shape descriptors aim to apply 2D space for image data. Therefore, such descriptors have to be extended to deal with 3D data such as LiDAR(Light Detection and Ranging) data obtained from ALS(Airborne Laser Scanner) system. This paper introduces extension of chain code to 3D object space with hierarchical approach for segmenting point cloud data. The experiment demonstrates effectiveness and robustness of the proposed method for shape description and point cloud data segmentation. Geometric characteristics of various roof types are well described that will be eventually base for the object modeling. Segmentation accuracy of the simulated data was evaluated by measuring coordinates of the corners on the segmented patch boundaries. The overall RMSE(Root Mean Square Error) is equivalent to the average distance between points, i.e., GSD(Ground Sampling Distance).

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.335-342
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• 2012

3D point cloud is widely used in Architecture, Civil Engineering, Medical, Computer Graphics, and many other fields. Due to the improvement of 3D laser scanner, a massive 3D point cloud whose gigantic file size is bigger than computer's memory requires efficient preprocessing and visualization. We suggest a data structure to solve the problem; a 3D point cloud is gradually subdivided by arbitrary-sized cube grids structure and corresponding point cloud subsets generated by the center of each grid cell are achieved while preprocessing. A massive 3D point cloud file is tested through two algorithms: QSplat and ours. Our algorithm, grid-based, showed slower speed in preprocessing but performed faster rendering speed comparing to QSplat. Also our algorithm is further designed to editing or segmentation using the original coordinates of 3D point cloud.

• Journal of KIISE
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• v.44 no.4
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• pp.392-398
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• 2017

The point-cloud representation of an object is performed by scanning a space through a laser scanner that is extracting a set of points, and the points are then integrated into the same coordinate system through a registration. The set of the completed registration-integrated point clouds is classified into meaningful regions, shapes, and noises through a mathematical analysis. In this paper, the aim is the matching of a curved area like a cylinder shape in 3D point-cloud data. The matching procedure is the attainment of the center and radius data through the extraction of the cylinder-shape candidates from the sphere that is fitted through the RANdom Sample Consensus (RANSAC) in the point cloud, and completion requires the matching of the curved region with the Catmull-Rom spline from the extracted center-point data using the Principal Component Analysis (PCA). Not only is the proposed method expected to derive a fast estimation result via linear and curved cylinder estimations after a center-axis estimation without constraint and segmentation, but it should also increase the work efficiency of reverse engineering.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.181-188
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• 2000

The objective of this research is to develop an efficient reverse engineering method of 3-dimensional compound surfaces for raped prototyping process. As a first step, several image processing techniques were applied to the measured data obtained using laser scanner. And the boundary information of the compound surface were extracted to divide the surface into several separate regions. As a next step, the Delaunay triangulation method were applied to reconstruct the surface based on the measured data and the boundary information. Finally, the STL file were created for the rapid prototyping process. Required simulations and experiments were performed and the results were analyzed to show the effectiveness of the proposed methods.

• Journal of Sasang Constitutional Medicine
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• v.20 no.1
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• pp.42-47
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• 2008

1. Objectives The Body Shape and Feature is one of the important standard for classification of Sasang Constitutions. In order to evaluate one's Body Shape and Feature objectively we have been developing the Body Measuring Machine. Now we develop the 3D Automatic Body Measuring Machine(3D-ABMM). So we make an analysis of the 3D-ABMM's Accuracy. 2. Methods By using the 3D-ABMM and Vivid 9i(3D laser scanner, Konica Minolta) we have a surface scan of the three objects which are the upper body of the female and male Manikin and a male model. We overlap each scan data using the RapidForm2006 (3D scan data solution, INUS Technology) and calculate the average distance and standard deviation between the same point of each scan data. 3. Results and Conclusions In the female Manikin, the average distance is 0.84mm and the standard deviation is 1.16mm and the maximum distance is 10.68mm. In the male Manikin, the average distance is 1.12mm and the standard deviation is 1.19mm and the maximum distance is 12.00mm. In the male model, the average distance is 3.26mm and the standard deviation is 2.59mm and the maximum distance is 12.75mm. From the results, 3D-ABMM has good accuracy for scanning body and will be a usable hardware of the 3D Automatic Body Analysis Machine.

• Journal of the Korean Institute of Gas
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• v.12 no.2
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• pp.92-98
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• 2008

A combination of the instrumented indentation and 3D morphology measurement has been tried in order to perform a real-time property measurement of degraded materials in gas pipelines; three-dimensional indent morphologies were recorded using a reflective laser scanner after a series of insturmented indentations on three metallic specimens. Dimensions of the permanent deformation zone and contact boundary were analyzed from the cross-sectional profile over an remnant indent and used for estimating yield strength and hardness, respectively. Estimated yield strength was comparable with that from uniaxial tensile test and actual hardness implying material pile-up effects was lower than the calculated value from indentation curve by $20{\sim}30%$. It means that this 3D image analysis can explain the material pile-up effects on the contact properties. Additionally, a combined system of indentation and laser sensor was newly designed by modifying a shape of the indentation loading fixture.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.99-106
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• 1998

Recently, scientists introduced a new type of microscope capable of investigating nonconducting surfaces in an atomic scale, which is called AFM (Atomic Force Microscope). It was an innovative attempt to overcome the limitation of STM (Scanning Tunnelling Microscope) which has been able to obtain the image of conducting surfaces. Surfaces of samples are imaged with atomic resolution. The AFM is an imaging tool or a profiler with unprecedented 3-D resolution for various surface types. The AFM technology, however, leaves a lot of room for improvement due to its delicate and fragile probing mechanism. One of the room for improvements is gap control between probe tip and sample surface. Distance between probe tip and sample surface must be kept in below one Angtrom in order to measure the sample surface in Angstrom resolution. In this paper, AFM system modeling, experimental system identification and control scheme based on system identification are performed and finally sample surface is measured by home-built AFM with such a control scheme.